CN102684583B - Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device - Google Patents
Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device Download PDFInfo
- Publication number
- CN102684583B CN102684583B CN201210168877.2A CN201210168877A CN102684583B CN 102684583 B CN102684583 B CN 102684583B CN 201210168877 A CN201210168877 A CN 201210168877A CN 102684583 B CN102684583 B CN 102684583B
- Authority
- CN
- China
- Prior art keywords
- voltage
- synchronous motor
- motor
- current
- inertia load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a big inertia load permanent magnet synchronous motor drive outage-restarting control method and a device. The technical scheme includes that when a permanent magnet synchronous motor drives a big inertia load and operates at a certain initial speed, a main loop and a powerpath are opened at one moment of alternating current input or direct-current power supply outage, the voltage of a direct-current bus link is detected and a suggested regenerative feedback control strategy is utilized so that an electrical state of a permanent magnet synchronous motor is changed into a power generating state, and the three-phase alternating current output by the motor is back fed to a direct current side through a three-phase full bridge inverter circuit which is provided with a follow current device so as to enable the voltage on a direct-current bus support capacitor to maintain at a rated value. Then when the alternating current input or direct-current power supply power restoration is detected, on the premise that the direct-current bus voltage does not decrease or decreases at a small value of amplitude, the main loop and a power supply are connected again, and a direct-current restarting is performed, so that an electrical and mechanical impact produced during an outage-restarting process can be weakened or avoided.
Description
Technical field
The present invention relates to a kind of large inertia load permagnetic synchronous motor and drive power-off-heavily throw control method and device, belong to large inertia load permanent magnet synchronous AC machine drive system phase splitting or power supply and interrupt in short-term the control technology field of recovering.
Background technology
Along with petering out of world's fossil energy, improve the important trend that efficiency of energy utilization and energy savings have become the electrified development of world wide.As the drive motors of the large inertia load such as high ferro locomotive, electric automobile and large scale screw, permanent magnet synchronous motor, with advantages such as its high efficiency, High Power Factor and high power densities, just progressively replaces induction motor, obtains applying more and more widely.At present, permagnetic synchronous motor is as the drive motors of large inertia load, compare with induction motor, because rotor permanent magnet exists constant excitation megnet, High-reliability Control technology under its four-quadrant Driving technique and special operation condition is ripe not enough, and the power-off-heavily throwing problem of interrupting in short-term recovering and locomotive is crossed under the situations such as phase-separating section in drive system power supply is a difficult point.External research has in this respect obtained certain achievement, and China also progressively launches deep research.
In electric railway, contact line often adopts segmentation commutation power supply, motorcycle pantograph must pass in and out neutral section insulator in currentless situation, the recovery process of motor driven systems input side experience power failure-more now, must cause inverter to output to the power-off of motor-heavily throw; Electric automobile and screw etc., in practical work process, when drive system occurs in short-term can recovery type fault time, fall or protective circuit action and recovering again as DC bus-bar voltage in short-term, also can cause drive system inverter to output to the power-off of motor-heavily throw.Therefore,, under accidental conditions, inevitably there is power-off-heavily throw problem as traction electric machine in permagnetic synchronous motor.
The induction machine of cage-shaped structure is different from adopting, when adopting the permagnetic synchronous motor of permanent magnet excitation, rotor in running, carries out power-off-while heavily throwing, can be in uncontrollable generating state, especially under high speed, winding back emf voltage magnitude is very high, voltage waveform and Driven by inverter different wave shape are large, inappropriate driving voltage again drops into and certainly will cause strong electric current and mechanical shock, even damages driver and transmission mechanism.Particularity due to permanent-magnetic synchronous motor rotor excitation, if carry out at AC, power-off-heavily throwing is controlled, no matter be to adopt the voltage vector of Phase synchronization method or planning to lead into method, or in the Analysis on Mechanism of dynamic process, carry out the Active Control Method etc. of handoff procedure on the basis of research, all cannot fundamentally eliminate the impact that torque transient change is brought, and its control mechanism and process complexity, realize difficulty.
Summary of the invention
The technical problem solving
For fear of the deficiencies in the prior art part, the present invention proposes a kind of large inertia load permagnetic synchronous motor and drives power-off-heavily throw control method and device.
Technical scheme
Large inertia load permagnetic synchronous motor driving power-off-heavily throw a control method, is characterized in that step is as follows:
Step 1: establish in a large inertia load and have the work of n permanent magnet synchronous motors, the moment of inertia that detects every motor is
the quality that calculates this large inertia load is
wherein, r is the radius of wheel or screw etc.;
Step 2: by position transducer, detect the angular position theta that obtains permagnetic synchronous motor, according to
obtain the actual speed ω of motor;
Step 3: calculate
ω
*for keeping given voltage U
*corresponding motor speed predetermined value, in formula:
c is the capacitance of DC bus-bar voltage Support Capacitor, and m is load quality, and η is the efficiency that load machinery can be transformed into Support Capacitor end electric energy;
for the coefficient between motor angular velocity and loading speed or rotating speed; U
*for the magnitude of voltage that DC side Support Capacitor need to keep, it is a constant; U is the magnitude of voltage of three phase full bridge inverter circuit DC side, by voltage sensor, obtains in real time;
Step 4: by ω
*the tach signal input of the outer ring controller of rotating speed, current double-closed loop controller is sent in instruction, two closed loop controller output motor three-phase voltage u
a, u
b, u
ccommand value, by three-phase voltage u
a, u
b, u
csend into voltage source inverter pwm signal generating means, inverter output three-phase voltage drives permagnetic synchronous motor to rotate.
Large inertia load in described step 1 is the equipment that electrically-driven car, electric automobile, large scale screw or permagnetic synchronous motor drive.
Motor desired speed ω in described step 3
*≤ motor actual speed.
Rotating speed in described step 4, current double-closed loop controller adopt field orientation to control or direct torque control Electric Machine Control mode.
Realize described in claim 1～4 any one large inertia load permagnetic synchronous motor and drive power-off-heavily throw a device for control method, it is characterized in that comprising power supply, DC bus Support Capacitor, with three phase full bridge inverter circuit, testing circuit and driving and the control circuit of current following device, power supply with after the parallel connection of DC bus Support Capacitor, be connected with the DC bus powered terminal of three phase full bridge inverter circuit, DC bus Support Capacitor is by DC bus switch S of power supply side joint, between switch S and power supply, meet a voltage check device U1 in order to the voltage of real-time detection power supply, between Support Capacitor and three phase full bridge inverter circuit, establish a voltage check device U2 in order to the voltage at real-time detection Support Capacitor two ends, control circuit input termination voltage detecting U1, U2 and three-phase motor with permanent magnets current feedback and position feed back signal, the three-phase voltage signal input of output termination drive circuit, drive circuit output termination three phase full bridge inverter circuit pwm signal input, three phase full bridge inverter circuit output termination motor three-phase voltage input.
Beneficial effect
A kind of large inertia load permagnetic synchronous motor that the present invention proposes drives power-off-heavily throw control method and device, employing be take Conversion of Energy as the accurate control strategy of basic regenerative feedback, the strong electric current and the mechanical shock that fundamentally weaken or avoid power-off-heavily throwing process to bring, have feature stable, reliable, that applicability is good.
Compared with prior art, the beneficial effect of the method is:
(1) permanent magnet synchronous electric tester in power-down state-heavily throw is stressed to throw by interchange and changes direct current into and stress to throw, heavily throw controlling parameter predigesting is direct voltage amplitude, the impact of avoiding when interchange stresses to throw the differences such as amplitude because of alternating voltage waveform, frequency, phase place, phase sequence to cause;
(2) by the control to motor speed and DC bus-bar voltage, by the kinetic transformation of locomotive or screw etc., be electric energy,
Be stored in DC bus Support Capacitor, to maintain the rated value of DC bus-bar voltage;
The control method of DC bus-bar voltage adopts Energy Equivalent and the method that conventional motors control strategy combines, and realizes the stable control of DC bus-bar voltage.
Accompanying drawing explanation
Fig. 1: be overall construction drawing of the present invention;
Fig. 2: use control system block diagram for a kind of vehicle permagnetic synchronous motor drives
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
Technical scheme of the present invention is: permagnetic synchronous motor is when driving large inertia load to move with certain initial velocity, exchanging input or DC power supply power-off moment, disconnect major loop and power path, by detecting DC bus link voltage, use the regenerative feedback control strategy proposing, make permagnetic synchronous motor become generating state from motoring condition, the three phase full bridge inverter circuit of the three-phase alternating current band current following device of motor output feeds back to DC side, makes the voltage on DC bus Support Capacitor maintain rated value.Thus, the kinetic energy providing by the large inertia load of certain speed, with the deceleration regeneration feedback of magneto, gets the stable of DC bus-bar voltage in return.Then, when interchange input or DC power supply recovery being detected, under the prerequisite that DC bus-bar voltage does not decline or descent amplitude is little, again by major loop and power connection, carry out direct current and heavily throw, the electric and mechanical shock that can weaken or avoid power-off-heavily throwing process to bring.
Primary structure of the present invention is as follows:
1. power supply E: can be the single-phase or three phase supply of electrical network, also can be limited energy power supply, as all types of batteries or generator.
2. DC bus switch S: the controllable type power switches such as relay, contactor.
3. voltage sensor: DC bus-bar voltage transducer V1, DC bus Support Capacitor voltage sensor V2
4. DC bus Support Capacitor C: energy storage device
5. three phase full bridge inverter circuit: band current following device
6. three-phase permanent magnet synchronous motor
Objective for implementation of the present invention is three-phase permanent magnet synchronous motor, and this motor application is in the large inertia load such as electric traction, electric automobile, screw.
Embodiment: power-off-heavily throw system block diagram as shown in Figure 1, comprising power supply, DC bus Support Capacitor, with the assemblies such as three phase full bridge inverter circuit, testing circuit, driving and control circuit of current following device.Its operation principle is: during power-off, and the voltage U at DC bus Support Capacitor two ends
2progressively reduce, by DC bus Support Capacitor voltage sensor, V2 detects, and works as U
2while being less than certain value, think and enter off-position, now cut off DC bus switch S, and control permagnetic synchronous motor and become regenerative power generation state from motoring condition, make the backward DC bus Support Capacitor charging of three phase full bridge inverter circuit rectification of the three-phase alternating current band current following device of motor output, make electric capacity both end voltage value maintain load voltage value; When DC bus-bar voltage transducer V2 detects service restoration, control DC bus Support Capacitor voltage U
2with input side direct voltage U
1amplitude is consistent, and closed DC bus switch S, reaches that no-voltage is poor, no current impacts heavily and throw, thereby weakens or avoid causing electric and mechanical shock.
The present invention be take vehicle permagnetic synchronous motor and is introduced its execution mode as example, is specifically divided into following step:
1. given voltage U
*for the magnitude of voltage that DC side Support Capacitor need to keep, U is the magnitude of voltage of three phase full bridge inverter circuit DC side, can obtain in real time by voltage sensor.
2. the quality due to vehicle is an online amount often changing, and the present invention selects the method for the ONLINE RECOGNITION such as conventional dichotomy or model reference adaptive to carry out inertia identification to motor, thereby obtains the quality of vehicle.Detailed process is: suppose that a joint compartment exists four axles, be equipped with a motor on every axle, the moment of inertia that every motor detects is J, and vehicle wheel roll radius is r:
Vehicle mass can be expressed as:
Coefficient k
mcan be expressed as:
3. by position transducer, obtain the angular position theta of permagnetic synchronous motor, by
obtain the actual speed ω of motor.
4. by U
*, U, k
m, ω sends in voltage controller, carries out following calculating:
ω wherein
*for keeping given voltage U
*corresponding motor speed predetermined value.
5. in the present embodiment, by ω
*the tach signal input of the outer ring controller of rotating speed, current double-closed loop controller is sent in instruction, two closed loop controller output motor three-phase voltage u
a, u
b, u
ccommand value, by three-phase voltage u
a, u
b, u
csend into voltage source inverter pwm signal generating means, inverter output three-phase voltage drives permagnetic synchronous motor to rotate.
Finally, permagnetic synchronous motor feeds back to rotating speed, current double-closed loop controller by the current sensor in checkout gear and position transducer by three-phase current signal, motor position signal θ and motor speed signal ω.
Claims (5)
1. large inertia load permagnetic synchronous motor driving power-off-heavily throw a control method, is characterized in that step is as follows:
Step 1: establish in a large inertia load and have the work of n permanent magnet synchronous motors, the moment of inertia that detects every motor is
the quality that calculates this large inertia load is
wherein, r is the radius of wheel or screw;
Step 2: by position transducer, detect the angular position theta that obtains permagnetic synchronous motor, according to
obtain the actual speed ω of motor;
Step 3: calculate
ω
*for keeping given voltage U
*corresponding motor speed predetermined value, in formula:
c is the capacitance of DC bus-bar voltage Support Capacitor, and m is load quality, and η is the efficiency that load machinery can be transformed into Support Capacitor end electric energy;
for the coefficient between motor angular velocity and loading speed or rotating speed; U
*for the magnitude of voltage that DC side Support Capacitor need to keep, it is a constant; U is the magnitude of voltage of three phase full bridge inverter circuit DC side, by voltage sensor, obtains in real time;
Step 4: by ω
*the tach signal input of the outer ring controller of rotating speed, current double-closed loop controller is sent in instruction, two closed loop controller output motor three-phase voltage u
a, u
b, u
ccommand value, by three-phase voltage u
a, u
b, u
csend into voltage source inverter pwm signal generating means, inverter output three-phase voltage drives permagnetic synchronous motor to rotate.
2. large inertia load permagnetic synchronous motor driving power-off according to claim 1-heavily throw control method, is characterized in that: the large inertia load in described step 1 is the equipment that the permagnetic synchronous motor of electrically-driven car, electric automobile, large scale types of propellers drives.
3. large inertia load permagnetic synchronous motor driving power-off according to claim 1-heavily throw control method, is characterized in that: the motor desired speed ω in described step 3
*≤ motor actual speed.
4. large inertia load permagnetic synchronous motor driving power-off according to claim 1-heavily throw control method, is characterized in that: the rotating speed in described step 4, current double-closed loop controller adopt field orientation to control or direct torque control Electric Machine Control mode.
5. realize described in claim 1～4 any one large inertia load permagnetic synchronous motor and drive power-off-heavily throw a device for control method, it is characterized in that comprising power supply, DC bus Support Capacitor, with three phase full bridge inverter circuit, testing circuit and driving and the control circuit of current following device, power supply with after the parallel connection of DC bus Support Capacitor, be connected with the DC bus powered terminal of three phase full bridge inverter circuit, DC bus Support Capacitor is by a DC bus switch of power supply side joint (S), between switch (S) and power supply, connect first checkout gear in order to the voltage of real-time detection power supply, between Support Capacitor and three phase full bridge inverter circuit, establish a second detection device in order to the voltage at real-time detection Support Capacitor two ends, control circuit input termination the first checkout gear, second detection device and three-phase motor with permanent magnets current feedback and position feed back signal, the three-phase voltage signal input of output termination drive circuit, drive circuit output termination three phase full bridge inverter circuit pwm signal input, three phase full bridge inverter circuit output termination motor three-phase voltage input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210168877.2A CN102684583B (en) | 2012-05-28 | 2012-05-28 | Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210168877.2A CN102684583B (en) | 2012-05-28 | 2012-05-28 | Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102684583A CN102684583A (en) | 2012-09-19 |
| CN102684583B true CN102684583B (en) | 2014-12-10 |
Family
ID=46816065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210168877.2A Expired - Fee Related CN102684583B (en) | 2012-05-28 | 2012-05-28 | Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102684583B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103312241B (en) * | 2013-06-08 | 2015-12-02 | 西北工业大学 | Tester in power-down state-the optimizing of a kind of large inertia load permanent magnet synchronous electric heavily throws control method |
| CN104038114B (en) * | 2014-06-09 | 2016-08-24 | 江苏仁源电气有限公司 | The sine voltage drive system of simplex winding DC brushless motor and control method thereof |
| CN105141165A (en) * | 2015-08-24 | 2015-12-09 | 苏州市博得立电源科技有限公司 | Vehicle power supply inverter |
| CN105946588B (en) * | 2016-06-20 | 2018-03-13 | 中车株洲电力机车研究所有限公司 | Electric power machine car weight throws method, throws system and electric locomotive again |
| CN108556642A (en) * | 2017-12-15 | 2018-09-21 | 中车大连电力牵引研发中心有限公司 | Permanent magnetism trailer system and rail vehicle |
| CN108365779A (en) * | 2018-02-26 | 2018-08-03 | 广东美的暖通设备有限公司 | The control system and method for air-conditioning system and its magnetic suspension motor |
| WO2020063558A1 (en) * | 2018-09-30 | 2020-04-02 | 广东威灵汽车部件有限公司 | Power-off protection circuit for inverter, method, vehicle, and storage medium |
| TWI686042B (en) * | 2018-12-07 | 2020-02-21 | 群光電能科技股份有限公司 | Power conversion device |
| CN111756279A (en) * | 2020-06-12 | 2020-10-09 | 中车永济电机有限公司 | Counter potential suppression method and device for permanent magnet synchronous traction motor of electric locomotive |
| CN112202369B (en) * | 2020-09-27 | 2021-12-03 | 湖南大学 | Single-direct-current bus current sampling high-inertia permanent magnet synchronous motor speed-increasing and re-throwing method |
| CN113484627A (en) * | 2021-07-13 | 2021-10-08 | 中国第一汽车股份有限公司 | Wiring detection method and device for electric drive system and motor control system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2766436Y (en) * | 2004-11-23 | 2006-03-22 | 上海长江斯迈普电梯有限公司 | Multi elevator sharing DC generatrix energy-saving device |
| CN101479928A (en) * | 2006-06-28 | 2009-07-08 | 株式会社安川电机 | Inverter control device and its operation method |
-
2012
- 2012-05-28 CN CN201210168877.2A patent/CN102684583B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2766436Y (en) * | 2004-11-23 | 2006-03-22 | 上海长江斯迈普电梯有限公司 | Multi elevator sharing DC generatrix energy-saving device |
| CN101479928A (en) * | 2006-06-28 | 2009-07-08 | 株式会社安川电机 | Inverter control device and its operation method |
Non-Patent Citations (3)
| Title |
|---|
| 万山明等.磁同步电机超低速下的转速检测及控制.《微电机》.2007,第40卷(第8期),第65-71页. * |
| 林伟杰.永磁同步电机伺服***控制策略的研究.《中国优秀博士学位论文全文数据库（电子期刊）》.2005,(第5期),全文. * |
| 磁同步电机超低速下的转速检测及控制;万山明等;《微电机》;20070803;第40卷(第8期);第65-71页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102684583A (en) | 2012-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102684583B (en) | Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device | |
| CN202602581U (en) | Large-inertia load permanent magnet synchronous motor driving outage-restarting control device | |
| CN103312241B (en) | Tester in power-down state-the optimizing of a kind of large inertia load permanent magnet synchronous electric heavily throws control method | |
| CN103707771B (en) | The tension discharge equipment of vehicle and tension discharge method thereof | |
| CN103085666B (en) | Processing method for offline electric locomotive pantograph, processing system and electric locomotive | |
| CN102792577B (en) | Power conversion device | |
| CN105235525A (en) | Discharging method of supporting capacitor of electric automobile driving system | |
| CN108365676A (en) | Electric vehicle high speed motive force power failure emergency service control method and device | |
| CN105751902A (en) | Motor full-electronic regenerative braking energy recycling system | |
| JP5191351B2 (en) | Power converter | |
| CN103640495A (en) | Electric vehicle wheel motor drive control system | |
| CN105235546A (en) | Electric main driving system for 1000kW power level pure electric alternating current driving switch engine | |
| CN110089022A (en) | Controller for motor and electric vehicle | |
| JP2000308388A (en) | Driver of permanent magnet motor for electric car | |
| CN103532461B (en) | A kind of for steadily controlling the device that the little torque conditions of permagnetic synchronous motor low speed switches | |
| Ghaderi et al. | Modification of electric drive vehicles performances using a direct torque control with over-modulation ability | |
| CN112977162B (en) | Control method of electric rail locomotive system of industrial and mining enterprises | |
| CN201102477Y (en) | Rheostatic braking switch control device of diesel locomotive | |
| Trovão et al. | Comparative study of different electric machines in the powertrain of a small electric vehicle | |
| CN113787913B (en) | Fault response method and system for new energy automobile main drive controller | |
| Chen et al. | Improved control techniques for IPM motor drives on vehicle application | |
| Yu et al. | Impedance-based stability analysis of metro traction power system considering regenerative braking | |
| Nicola et al. | Sustainable energy conversion in electrically driven transportation systems | |
| BENOUDJIT et al. | Electric vehicle propelled by dual-induction motors structure: experimental results | |
| CN110481388B (en) | Automatic phase-passing control method for traction system of high-power permanent magnet direct-drive locomotive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170502 Address after: 710000 Shaanxi, Xi'an, new airport, Metro West International Business Center E District, layer 5 Patentee after: Yang Zengchan Address before: 710072 Xi'an friendship West Road, Shaanxi, No. 127 Patentee before: Northwestern Polytechnical University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181205 Address after: 710000 Fourth Floor of Hongyuan Building, 66 Science and Technology Second Road, Xi'an High-tech Zone, Shaanxi Province Patentee after: Xi'an Green Port Science and Technology Development Co.,Ltd. Address before: 710000 Five Floors of E District, Airport New Town International Business Center, Xixian New District, Xi'an City, Shaanxi Province Patentee before: Yang Zengchan |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 |